Académique Documents
Professionnel Documents
Culture Documents
by
Jonny Klepsvik
Submitted to the Department of Ocean Engineering
in partial fulfillment of the requirements for the degree of
Master of Science in Ocean Engineering
at the
MASSACHUSETTS INSTITUTE OF TECHNOLOGY
May 1995
;/
Author.....
-I
Certified by.
......
-.
J. Nicholas Newman
Professor of Naval Architecture
Thesis Supervisor
Acceptedby....
---
DouglasCarmichael
JUL 2 81995
LIBRARIES
ker EAf
Abstract
Wave Loads up to the third-order are predicted, based on the FNV-theory, for a
cylinder and the Draugen monotower platform exposed to long regular waves. The
first-order problem is solved using WAMIT to obtain the added mass and wave damping to be used in the prediction of the higher-order pitch motion. The principle of
superposition is used to find the pitch response due to the higher-order wave loads.
The computed results are compared to model test results of Draugen and found
to compare well. The higher-order wave effects are found to become increasingly
important for higher wavenumbers Ka.
Thesis Supervisor: J. Nicholas Newman
Title: Professor of Naval Architecture
Acknowledgments
I would like to to thank my advisor, Professor J. N. Newman, for his many helpful
advices and comments not only troughout this work, but throughout my whole time
here at M.I.T.. I also want to thank all the members of the CHF group for their
contributions and suggestions to the many problems that arose throughout this work.
Special thanks are due to Dr. Rick Mercier from Shell Houston, who provided the
model test data from the DMI Draugen model test.
Contents
1 Introduction
2 Theoretical
7
10
Analysis
2.1
2.2
The FNV-theory
10
...............
12
............................
2.2.1
Unidirectional
Regular
2.2.2
Unidirectional
Irregular
. . . . . . . . . . . . . .....
12
Waves . . . . . . . . . . . . . .....
18
Waves
3 Problem Statement
22
3.1
22
3.2
24
4.2
26
...................
4.1.1
4.1.2
4.1.3
26
26
..
31
32
37
41
53
Conclusion
List of Figures
3-1 DMI Model Basin Arrangement ...................
..
24
27
29
......................
30
...........
33
..........
33
...........
34
.
.
............
34
............
35
.................
36
36
...........
37
......
38
..........
38
39
..............
39
40
44
.............
44
.
45
5-4 Total Force and st-Order Force on the Cylinder, Ka = 0.30 .....
5-5 Total Moment and st-Order Moment on the Cylinder, Ka = 0.10
5
45
.
46
46
47
47
48
48
49
49
50
50
.........
51
51
52
52
...............
Chapter 1
Introduction
The analysis of wave effects on large offshore structures, such as wave loads and
corresponding responses, are of great importance to ocean engineers in the design,
and for the operational safety of offshore structures. The effects of ocean waves on
large offshore structures are usually analyzed using potential theory, assuming viscous
effects to be negligble.
The calculation of first order wave effects are now considered straightforward.
More attention has been brought to the matter of calculating higher order wave
effects. For tension leg platforms (TLPs) it has been observed that second order
wave loads can cause resonant axial deflection of the tendons. This phenomenon is
known as springing.
Recently, it has been noticed that in severe sea states, TLPs and 'monotowers' can
among researchers whether the non-linear wave kinematics or the non-linearity due
to waves interacting with the structure is the most important factor. Researchers are
going in many different directions in order to obtain the third order loads correctly
and to explain the cause of ringing. One approach has been to extend the Morison
equation, which gives good estimates for the first order wave loads in long waves,
to predict higher order wave loads (Madsen, 1986), and (Rainey, 1989). Jefferys &
Rainey (1994) have used this method to predict ringing.
Another approach has been presented by Malenica & Molin (1995). They obtain
the complete third order velocity potential for a fixed cylinder in finite depth based
on the traditional Stoke's perturbation method. The second order wave potential is
an expansion of the first order potential, and is expressed in terms of this potential.
The third order potential is obtained in a similar way. The wave loads calculated from
the third order potential are compared with experimental results, but there is a large
scatter between the results, so the comparison does not fully validate the numerical
results.
Recently, Faltinsen et al. (1995) have presented another theory known as the
FNV-theory, named after the authors initials ( Faltinsen, Newman, and Vinje). The
FNV-theory is based on the long wavelength approximation. In an inner domain close
to the body surface the wave elevation is assumed to be significantly affected by nonlinearities due to the presence of the structure causing wave diffraction and scattering.
The first order wave potential is expanded up to the third order and a correction for
the higher order scattering potential is added to the linear diffraction potential. The
computed third order wave loads are found to overlap with the results from Malenica
& Molin only for very small values of the non-dimensional wave number ka.
In order to establish a valid theory for third order wave loads, 'exact' results
from model tests or full-scale tests are needed. Unfortunately, there is not a reliable
method to distinguish third order loads from first, and second order loads when performing model tests. The need of comparing numerical results to experimental results
has motivated the present study, where the third order wave loads and responses of
a monotower platform are predicted, based on the FNV-theory. The higher order
8
wave effects are concentrated in a region close to the free surface, which lead to the
expectation that higher order loads for a cylinder will be comparable to those of a
monotower of slowly varying radius. The non-linearities due to interaction between
incoming waves of different frequencies are assumed to be negligible. An unidirectional irregular incident wave field can than be obtained by superposition of regular
waves. The wave loads and responses can be related to the incoming velocity field
(Newman, 1994).
The first order problem is solved using WAMIT. Added mass and wave damping obtained from WAMIT is used in the calculation of the pitch response due to
higher order wave loads. Model test results of the Draugen 'monotower' platform are
compared to the numerical results.
Chapter 2
Theoretical Analysis
2.1
The diffraction potential of a body of arbritary shape, extending from the sea bottom,
piercing the free surface, can be expressed as
OD =
(2.1)
+ Os,
wave scattering, caused by the presence of the body. For a fixed body D represents
the total wavepotential. However,if the body is allowedto move, a radiation potential
due to the body motion is contributing to the velocity potential. The total velocity
potential then becomes
= D+ OR,
where
OR
(2.2)
be described as
V2(> = 0,
10
(2.3)
an
-- 0,
(2.4)
8z
a1
= 0,
(2.5)
-+0,
(2.6)
0(D
0a~
+ 9 dy = -2V V at-- - 2V
* V(V * V@).
azt
2
(2.7)
To complete the boundary value problem the velocity potential must satisfy the radiation condition, which states that reflected waves must radiate outwards from the
body to infinity.
Solving the complete boundary value problem is rather complicated due to the
inhomogeneous free surface boundary condition. The traditional approach to handle
this problem is to use Stokes' perturbation
11
This is further
2.2
The FNV-theory
Recently O.M. Faltinsen, J.N. Newman, and T. Vinje have presented a theory for predicting nonlinear wave loads on a fixed slender vertical cylinder. The regime where
the wave amplitude A and cylinder radius a are of the same order, and both are small
compared to the wavelength is considered. The diffraction problem is divided into an
outer and an inner domain. Conventional linear analysis applies in the outer domain
far from the cylinder. However, in the inner domain significant nonlinear effects exist
associated with the free-surface boundary condition. The long wavelength approximation is justified in the inner domain when the wavelength A is much larger than
the cylinder radius a, A > a. This is essentially the same as Ka < 1, where K =
2,
A
is the wavenumber. The wave amplitude A is of the same order as the cylinder radius
2.2.1
Linear Analysis
For incoming regular waves of amplitude A and wave number K, the incident velocity
potential for infinite water depth, in Cartesian coordinates (x, y, z), can be written
as
(2.8)
where w is the wave frequency. Alternatively and more appropriate for the case of
a circular cylinder, the velocity potential can be expressed in cylindrical coordinates
(r, , z) as
12
gA exp(Kz + iwt) 0o
R
I= Re{(gAexp(Kz
+iwt)
(2.9)
m=O
OD
= qI
+ Os, where
Os is the scattered potential. For a fixed cylinder of radius a, and by imposing the
boundary condition On
~ = 0 on the body surface, the scattered potential valid for all
values of ka has been given by MacCamy & Fuchs (1954) as
Os = -Re{A
exp(Kz + iwt)
emi- m cos m
m=O
m( (
H)' (Ka)
(2.10)
where H(2) = Jm - iYm is the Hankel function of the second kind. For large Kr
this potential has a periodic form that propagates away from the body, satisfying the
radiation condition. In the inner domain, the expansion of the Hankel function of
argument Kr can be used to find an approximation for Os. The main contribution
of this expansion comes from the term m = 1 and is of order
Os " -Re
Adding
XI
ig A
e 2,
(2.11)
and s gives the total linear diffraction potential valid for the inner region
as
OD = Re{W
a2
r
)]} + 0(e3 ).
(2.12)
Faltinsen et al. present a higher order extension of (2.12) obtained from (2.10) as
gA ={
ex(a
1K22
+K2
+K2a2(log
2Kr
+ y+
2
2
71a4
2
2r
) - 44 cos20(r2 + r2 ) +-O(4).
(2.13)
The higher order expansion leading to the potential given in (2.13) is inconsistent in
the sense that terms of order Aa2 are included, but nonlinear terms of order A 2 a and
A3 are neglected. In the case when the wave amplitude A is of the same order as the
cylinder radius a, A/a =
41
where
4' is the
= qD +
(,e4),
(2.14)
V are
r= 0
(2.15)
(2.16)
on r = a, and
I[t 2,
l[-1
14
(2.17)
(2.18)
1l-= A sinwt,
and
a2
w72
= -KA(r+ -)
2 cos 20+ 2
2
A full derivation of the nonlinear correction potential can be found in Faltinsen et al.
Wave Loads
Following Faltinsen et al. the expression for the force acting on the cylinder in the
x-direction is given as
F = pa
o2 cos dO (t + 2V2)r=adZ + pa
(2.20)
F(z) = pa
(2.21)
1Pgf 21(VqD)
F 2 (z) = -pg
2
(2.22)
F1 (z) and F2 (z) are the contributions between z = -h and z = 0. The force coming
15
f27r
Fp= paJ
11
cos dO10(+Dt
VD
D)r=adZ
(2.23)
FP2
= pa
27r
(2.24)
acting at the location of the incident wave elevation, j. The "point" force due to the
correction potential
? is given as
(2.25)
The total force acting on the cylinder in the x-direction is the sum of the integrated
forces F1 and F2 and the "point" forces Fp1 , FP2 , and FP3 .
Collecting the force components of the same harmonic give the following expressions;
2 (1 - e- K h) + 7rpgK2a2 3
FH1= [21rpgAa
A ] cos Wt,
16
(2.26)
(2.27)
and,
FH3 = -2rpgK
2 a2 A 3
cos 3wt.
(2.28)
The expression of the total moment will include a fourth harmonic. The moment
about z = -h gives the following expressions;
r1 7).2A1
pgKa2A(h
=
gH2
1 +
2K
Kh
13
Kh ) + -pgKa
2
2 A
3 ] coswt,
A3 + h+rpgKa
(2.29)
12
3
e-2Kh) + hxpgKa2 A 2 + -rpgK a A4 ] sin 2wt,
2K
(2.30)
(2.31)
(2.32)
The complete expression for the fourth harmonic will also include contribution from
higher-order effects than considered in this study.
17
2.2.2
Recently, Newman (1994) has extended the FNV-theory to a more practical case of
unidirectional irregular waves. An irregular wavefield is created by the superposition
of regular waves. The forces are related to the incident wave field, and the incident
velocity potential at the cylinder axis is defined as
(2.33)
(2.34)
and
w(z, t) = Re{KS,=o}
(2.35)
w3 A
exp(Kz - iwt)},
(2.36)
exp(Kz + iwt)).
(2.37)
and
w(z, t) = Re{-K 2
0I,o
= Re{
-iw 3 A
The linear diffraction potential (2.13) can now be expressed in terms of $I,x=o,
u, and
U as
18
bD =
2
Re{,x=o(I+C)}+u(r+ -)
r cosO+u
4 [r +cos20(r2+r )-2a2 log(-)1+0(6)3,
a
(2.38)
(2.38)
The potential (2.38) applies in an irregular incident wave field defined on the
cylinder axis by the time-varying functions ,=,
the contribution from the constant C. However, in these analyses the higher-order
where
72 *,
'
r = -- t,
(2.39)
and
12
1[1
[ (U +
2 )-
U2
a2
-(-jcos20
1 a4
-(r -
a 2 cos
) os 0.
(2.40)
Wave Loads
From equation (2.20) the force contribution between z = -h and z = 0 now becomes
F1 = 2rpa2t
O(KA),
(2.41)
and
F2 = 7pa2 (2ww~ + uu)
19
O(KA) 2.
(2.42)
Neglecting difference frequencies, the right hand side of (2.42) can be replaced by
either 7rpa2 wwx or -rpa
given as
(2.43)
The first term in (2.43) is of order (KA) 2 while the three last terms are of order
(KA) 3 . The contribution between z =
and z =
O(KA) 3 .
(2.44)
The "point" force contribution from the nonlinear potential 0bcan be written as
O(KA)3 .
Fp3 = 4rpa2Ut
g
(2.45)
Organizing the force components according to the different powers of KA, the first,
second, and third order force component can be expressed as;
FlSt(t) = 2rpa 2u t,
(2.46)
(2.47)
and
20
2 [2wuzr7l- UWzll
F3 rd(t) = 7rpa
2ut l - -Utwt
g
21
+U
t].
(2.48)
Chapter 3
Problem Statement
3.1
The FNV-theory is applicable for a fixed circular cylinder of constant radius in infinite water depth. However, it can be extended to finite water depth by using the
ad hoc. assumption that, if the cylinder is deep enough, the pressure distribution on
the cylinder will not change much due to the presence of the sea bottom. In a water
depth of 252.5 m, the waves are assumed to be deep water waves. Mathematically
this is expressed as
cosh[K(h + z)] _ Kz
coshKh
(3.1)
w2 = Kg tanh Kh
(3.2)
w2 = Kg.
(3.3)
to
A gravity based monotower platform with slowly varying radius can be approximated
22
as a circular cylinder. This approximation is obviously not good for calculation of the
first order wave load, since the first order pressure field penetrates to large depths.
However, higher order wave loads are concentrated in the free surface region, where
the radius of the platform does not change much and can be assumed constant. The
Draugen montower platform, which is considered in this study, has a part of constant
radius in this region that makes the approximation even better. Based on the above
approximations, the FNV-theory will be applied to estimate higher order wave loads
acting on Draugen.
aOs =-s
- a,
a
an
an
(3.4)
is correct up to the first-order. However, (3.4) is not exact for the higher-order problem due to higher-order effects in the scattering potential. For small body motions, as
in the case of this study, the equality (3.4) can be assumed to hold. The higher-order
problem must be solved in the time domain.
For monotowers ringing is seen as a transient structural resonance phenomenon
in the bending mode. Draugen has a natural period in pitch of 4.75 sec., since this is
substantially higher than the dominant wave frequency, only the first bending mode
is of significant interest associated with ringing. In the model test Draugen was
modeled as free to move in pitch (rigid body motion), with an external spring at the
moment point. If the external spring constant KEX is very large, the structure can
be approximated as clamped at the bottom. Then the motion will represent the first
bending mode of the structure. The fact that the moment point was located at 55.9
m above the bottom makes this approximation even better. Only pitch motion is
23
3.2
The Draugen Danish Maritime Institute (DMI) model test data were provided by
Shell in Houston. Figure 4.1 shows the platform configuration and Figure 3.1 shows
the DMI model basin arrangement.
-- Carrlage
Depth
5.36
200
24
Nine channels of data were collected and below is a description of each collected
data.
Channel
Description
wave elevation in meters at leading edge of flare to the side of the model
The transverse stiffness at the deck level was given to be 309 mN, which cor13 N . Kt
responds to a rotational stiffness at the moment point of Kt = 1.57966e
25
(3.5)
Chapter 4
The First-Order Solution
4.1
The first order problem is solved in the frequency domain for a circular cylinder of
constant radius and for the Draugen 'monotower' platform. A geometric description
of the body is needed in order to run WAMIT. The representation of the cylinder
is straight forward, the mesh generation of Draugen, on the other hand, is more
complicated. The platform configuration is shown in Figure 4.1.
4.1.1
The platform is surrounded by seven stability cells at the bottom and the main shaft
starts out with constant radius from the sea bottom up to El. = 76.7 m, where El.
is the elevation measured from a reference plane at the bottom of the platform. The
radius than starts changing linearly up to El. = 240.3 m, where the shaft has a section
of constant radius before a flare section completes the structure. The water line Z=0
is at El. 252.5 m. The practical function of the flare section is to make a smooth
transition from the circular cross-section of the shaft to the square cross-section of
the platform deck. The flare starts under the mean free-surface in order to reduce
slamming effects.
The cells at the bottom were modeled as a block of diameter d=79.5 m. The
26
El. 282.0 n-
- __*_._
_vAv
seCtIOn A-I
B-
ELt.
2489 n
EL.240,3 n
-B
250o
Section B-B
250 1.
Section C-C
EL. 76.7 n
El. 57 n
El. 44.7 n
C.-
El. 0.0
the body coordinates (x, y, z), was placed at Z = -196.6, where (X, Y, Z) are the
global coordinates with Z = 0 at the mean free-surface. The geometric model of
the platform was lifted 0.1 m above the sea bottom and the bottom of the platform
was paneled. This was done to obtain the correct hydrostatic coefficient, C55 from
WAMIT. The gap between the bottom and the platform will cause minimal numer27
ical problems in this case since the hydrodynamic disturbances at the bottom are
very small. However, introducing a gap like this is not recommended and should be
avoided if possible. The hydrostatic coefficient, C55 is expressed as
C55 = pg J
js
b
(4.1)
where V is the volume of the structure, Zgthe vertical position of the center of gravity,
and
Zb
Zb = -
Zb
(4.2)
2dS.
is given as
V=-
n3zdS.
(4.3)
If no panels are defined on the bottom of the structure, the bottom surface will not
be included in the surface integral in Equation (4.3), and the calculated volume will
be wrong. The erroneous volume will cause
Zb
and
C55
center of gravity of Draugen was not known and not reported in the model test at
DMI. I estimated the vertical position of the gravity to be at Zg=15.1 m, this based
on the description of the platform. The 'exact' value of Zgis not important since the
external stifness of the structure, K is dominating
28
C55.
.9 9b
x
I Y
308 panels
612 panels
29
~~Y
5760 panels
1440 panels
30
4.1.2
The surge force and pitch moment are calculated for a cylinder of radius 8.2 m and
for Draugen. The excitation force and moment obtained from direct integration of
the hydrodynamic pressure is given as
Xi =-ipJP
s niDdS.
(4.4)
Figures 4.4-3.4 show the surge force and pitch moment for the cylinder and Draugen
obtained from WAMIT. The exitation forces are normalized as
Xi-
xi
X=
pgAL ,l
(4.5)
This stabilizing moment is larger for Draugen than the cylinder which
explains why the pitch moments are more comparable than the surge forces. Another
way to put this is to argue that if the forces were concentrated in the free-surface
region, the moment arm would have been large and the pitch moment would have
been correspondingly large.
31
4.1.3
The added moment of inertia A 55 and wave damping B 55 , can be found by solving
the radiation problem alone. The relation between Aij and Bij is given as
Aij -
Bij =p
nj0jdS.
(4.6)
A55
=
(4.7)
B55 = pLB
pL 555w'
(4.8)
pL 5 '
and
Figures 4.8-4.10 show the added moment of inertia, wave damping, and the pitch response for Draugen, respectively. The pitch response is found by solving the diffraction and radiation problem. WAMIT allows one to define external mass, external
damping, and external stifness. In order to compare results with the DMI test, external mass, and stiffness were defined in agreement with values used in the DMI model
test. Only the natural frequency, and the stiffnes in the spring were known from the
provided method. The external mass moment of inertia, IEX, can be found from the
relation
IEX + A 55 = Kt-
(4.9)
However, the added moment of inertia, A 55 , had to be obtained from the radiation
problem in order to find the external mass moment of inertia of Draugen.
It can be seen from Figure 4.8 that the added moment of inertia for Draugen
32
Surge Force
7
648 panels
1296panels
2592panels
-j
4?
3
I
I
0
0.0
I
X.... I ...*...*.. , ,.,., ..., ,III
0.5
1.0
1.5
Ka
2.0
,
2.5
3.0
Pitch Moment
150
100
-j0
co
0.
In
>x
50
n
0.0
0.5
1.0
1.5
Ka
2.0
2.5
3.0
Surge Force
.11
30
25
X
20
0_
15
10
0.0
0.5
1.0
1.5
Ka
2.0
2.5
3.0
Pitch Moment
200
150
100
50
n
0.0
0.5
1.0
1.5
Ka
2.0
2.5
3.0
a\/\5760panels
7.8000E4
- - - - 1440
panels
2880panels
7.6000E4
7.4000E4
\\\
A/pL 5
7.2000E4
7\
--
\
, "\
%I
7 .0000E4
6.8000E4
0. .0
0.5
1.0
1.5
Ka
2.0
2.5
3.0
sensible to the given discretization. The pitch response has its peak at about Ka=1.5,
this corresponds to a natural frecuency of 1.3228 rad/sec, which corresponds well with
information from the DMI model test. Values of Ka larger than 0.5 do not apply to
ocean waves. In the region below Ka=0.5, the response amplitude operator is almost
constant and corresponds to a maximum horizontal displacement of the platform deck
of 0.165 m for an incident wave of A = 10m.
35
D5UU
3000
2500
B55 /pL5%o
2000
1500
1000
500
n
0.0
0.5
1.0
1.5
2.0
Ka
2.5
3.0
Pitch Response
0.030
r I ----1440
panels
I I I I I I
2880panels
5760panels -
0.025
0.020
I
0.015
0.010
I
l
I
I
0.005
0.000
0.0
. . . . . . . . 0.5
1.0
. . . . I . . . . 1.5
K
Ka
2.0
. . . . .
2.5
,La
3.0
4.2
The surge force, pitch moment, and pitch response of the cylinder predicted by the
FNV-theory is shown and compared with results from WAMIT in figures 4.11-4.16.
The results comare well for small values of the nondimensional wavenumber Ka,
which corresponds well with the criteria that the FNV-theory is valid in the regime
Ka < 1. It can be concluded from the figures that the FNV-theory is valid for Ka's
up to 0.5. For higher frequencies the FNV-theory fails due to the fact that the long
wave length approximation is no longer valid.
The pitch response was found from the equation of motion with added moment
of inertia and wave damping obtained from WAMIT. In that sense it is not a surprise that the pitch response compares well for lower Ka numbers, since the moment
compares well in this region as well.
Surge Force
7
?O3
0.0
0.5
1.0
1.5
Ka
2.0
2.5
3.0
37
Surge Force
7
5
e{33
>x
0.0
0.2
0.4
0.6
0.8
1.0
Ka
Pitch Moment
150
100
-J
0
;az
50
0.0
0.5
1.0
1.5
Ka
2.0
2.5
3.0
Pitch Moment
150
100
-J
ScI
50
0.0
0.2
0.4
Ka
0.6
1.0
0.8
Pitch Response
0.040
0.030
4
0.020
0.010
0.000
0.0
0.5
1.0
1.5
Ka
2.0
2.5
3.0
Pitch Response
0.0030
....
FNV
WAMIT
0.0020
I /
Us?
0.0010
n nnnn
0. 0
0.5
1.0
1.5
Ka
40
Chapter 5
i),
the effects of the higher-order forces can be seen to increase and shift the peak value.
Figure 5.7 and 5.8 show the increasing higher-order contribution to the total force
and moment acting on the cylinder.
In order to compare the significance of the higher-order forces acting on Draugen,
the first-order force and moment is obtained from WAMIT. Figures 5.9-5.14 show the
higher-order effects on the total force and moment acting on Draugen. One interesting
observation is shown in figure 5.13, where the total force actually decreases as Ka
increases. The explanation for this can be found by looking at figure 4.6, where
the first-order force on Draugen is shown to have a sharp peak at Ka
. 0.10. The
00
Ebj sinjwt.
M(t)+j=1ajcosjwt+ j=1
(5.1)
The only coefficients considered here are al, b2 , b3 , and a 4. The steady state pitch
motion can be found by solving the linear equation of motion with the forcing func-
tion M(t). Using the principle of superposition, the steady state response can be
expressed as
5 (t)=
2+/
j=2,4 V(
where r =
OWn'
Kt
Kt
2 2 2
j r )
cos(jwt - j)
sin(jwt-alj),
+ ((5.2)
(5.2)
42
B 55
B=
2(IEX + A 55 )Wn'(53)
(5.3)
aj = tan-l(
j2r2
(5.4)
From equation (4.11) it can be seen that if jw = w, the amplitude of the corresponding
harmonic will be comparatively large, and will cause a large response motion. For
small values of j and ( this effect is important.
the corresponding amplitude becomes smaller and the contribution to the response
motion will tend to zero.
The steady state pitch motion in unidirectional regular waves is predicted for
Draugen. The added moment of inertia in pitch and wave damping is obtained from
WAMIT and used in equation (4.11).
response to the first-order response obtained from WAMIT. The results shown are for
an incident wave of amplitude A = 10m. Figures 5.17 and 5.18 show the overturning
moment at the pivot point and the in-deck motion for Draugen. The wave elevation
corresponding to figures 5.17 and 5.18 has a mean value of 8.9m, which is less than
the one used in the calculation for the predicted response and moment. However, the
peak value (at 240 sec.)in the sample space corresponds to a wave elevation of 10m
and the in-deck response value compares better with the predicted results as shown
in figures 5.15 and 5.16.
43
1.0E7
5.0E6
O.OEO
(D
-5.0E6
-1.0E7
0.0
1.5
1.0
0.5
2.0
3.0E9
ij
l-
---
KA=O.1
-
2.0E9
1.OE9
E
C
-1.OE3
z,
----- KA=0.3
/ \,/
/
~~
I o/
~ ~~
"
\/
\'
-1.0E9
-2.0E9
0.0
KA=0.2
0.5
,tI
\ //
1.0
1.5
cot/
2.0
6.0E7
4.0E7
2.0E7
C
O.OEO
-2.0E7
-4.0E7
-6r nF7
10
15
20
25
30
35
Time [sec]
Figure 5-3: Total Force and st-order Force on the Cylinder,Ka = 0.10
6.0E7
4.0E7
2.0E7
C
O.OEO
-2.0E7
-4.0E7
-6.0E7
0
10
15
20
Time [sec]
Figure 5-4: Total Force and 1st-Order Force on the Cylinder, Ka = 0.30
45
6.0E9
4.0E9
2.0E9
E
-2.0E3
z
-2.0E9
-4.0E9
10
15
20
25
30
35
Time sec]
Figure 5-5: Total Moment and st-Order Moment on the Cylinder, Ka = 0.10
1.0E10
5.0E9
-3.6E3
Q5
a)
-5.0E9
10
15
20
Time [sec]
Figure 5-6: Total Moment and st-Order Moment on the Cylinder, Ka = 0.30
46
A A
6.Ut7
4.0E7
2.0E7
ca
O.OEO
-2.0E7
-4.0E7
-6.0E7
0
cot/i
1.OE10
5.0E9
c0
-3.6E3
z
-5.0E9
cot/
1.5E8
1.OE8
5.0E7
Co
0
.OEO
z
-5.0E7
-1.OE8
-1.5E8
-, nFR
0
10
15
20
25
30
35
Time [sec]
5.0E7
z0
.E
-5.0E7
10
15
20
Time [sec]
1.OE10
5.0E9
oc
-4.6E3
(D
-5.0E9
-1.OE10
0
10
15
20
25
30
35
Time [sec]
1.OE1 0
5.0E9
-4.6E3
z
-5.0E9
1.OE10
0
10
15
20
Time [sec]
n nrn
1.Utr1.5E8
1.OE8
5.0E7
C
O.OEO
z
-5.0E7
-1.OE8
-1.5E8
-9 nF.
0
igure
5-13:
Total
orce
on
t/Ka
Draugen for different
numbers
\9~~~~~
,\/
.
-----
-<\~~~
1.OE10
\\
-----
/X
x\
\~~~~\\
_
\\\
Ka=O.1O
7 Ka=021
Ka=030 /
I~~~~~~~I
5.0E9
'A
-'
C
5.1E2
*I I
z
*I
-5.0E9
I,
\\ /
1.OE10
.
0
cot/n
0.300
0.200
0.100
0.000
-0.100
-0.200
10
15
20
Time [sec]
0.200
0.100
uP 0.000
-0.1 00
-0.200
10
15
20
Time [sec]
25
15.000
10.000
5.000
C
0.000
zCZ
.2)
('
a,
-5.000
-10.000
-15.000
0
50
100
150
200
250
Time [sec]
0.200
0.100
0
E
0
7CD
0.000
-0.100
-0.200
0
50
100
150
200
250
Time [sec]
Chapter 6
Conclusion
The wave loads up to the third-order are predicted for a cylinder and for the Draugen
monotower platform exposed to long waves, based on the FNV-theory. In an inner
domain close to the body surface, the wave elevation is assumed to be significantly
affected by nonlinearities due to the presence of the structure, causing wave diffraction
and scattering. The amplitude A is assumed to be of the same order as the radius a.
The higher-order wave forces are concentrated in a region close to the free-surface,
and can be thought of as "point" forces acting at the free-surface.
The first-order surge force, pitch moment, and pitch motion for a cylinder and
Draugen are obtained from WAMIT and the FNV-results are found to compare well
with the WAMIT results for Ka values less than 0.5. The total wave load on Draugen
is found by taking the first-order wave load from WAMIT and adding the integrated
2nd-order force and the "point" forces.
The principle of superposition is used to find the steady state pitch response of
Draugen from the linear equation of motion. The added moment of inertia and wave
damping are obtained from WAMIT. The predicted pitch moment and pitch response
are compared to model test results of Draugen and compare well with these results.
However, a complete comparison is difficult since only regular waves are considered
in this study. A natural next step will be to consider irregular waves.
53
Bibliography
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Scientists. World Scientific, 1991.
[2] McCamy R. C. and R. A. Fuch. Wave forces on a pile: a diffraction theory.
Technical Report 69, U.S. Army Board, U.S. Army Corp. of Eng., 1954.
[3] Mei C. C. The Applied Dynamics of Ocean Surface Waves. World Scientific,
1989.
[4] Faltinsen O. M., Newman J. N., and T. Vinje. Nonlinear wave loads on a slender
vertical cylinder. Journal of Fluid Mechanics, 289:179-198, 1995.
[5] Newman J. N. Marine Hydrodynamics. MIT Press, 1977.
[6] Newman J. N. Nonlinear scattering of long waves by a vertical cylinder. In
[9] Jefferys E. R. and Rainey R. T. C. Slender body models of TLP and GBS ringing.
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54
1995.
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55